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rate limit most parameter_update subscriptions

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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
This commit is contained in:
Daniel Agar
2021-01-10 21:09:15 -05:00
committed by GitHub
parent 70e503cb91
commit 967d35a6b6
73 changed files with 212 additions and 122 deletions
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src/modules/battery_status/battery_status.cpp
+1 -1
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@@ -101,7 +101,7 @@ private:
void Run() override;
uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)}; /**< attitude controls sub */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< notification of parameter updates */
uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
static constexpr uint32_t SAMPLE_FREQUENCY_HZ = 100;